Velocity field to draw’a circie Passive velocity field control (PVFC) was previously developed for mechanical systems which have strong coordination and must interact with the physical environment. Applications include teleoperated manipulators, contouring in machining and smart exercise machines. The methodology encodes tasks using time invariant desired velocity fields instead of the more tra...

Abstract   The simple passive dynamic walker can walk down a shallow downhill slope with no external control or energy input. Nevertheless, the period-one gait stability is only possible over a very narrow range of slopes. Since the passive gaits are extremely sensitive to slope angles, it is important to use a control strategy in order to achieve a wide range of stable walking. The computed to...

The paper is focused on a new passive greenhouse architecture, provided with cold water heat pumps, wind generator and solar panels. This greenhouse is independent of any energetic infrastructure (electric, gas, hot water). The sizing of each element and the automate control are critical in order to reduce the costs. A simplified mathematical model, able to assist the design and the automate co...

The stability of spacecraft attitude is studied with considering sinusoidal disturbance. A passive attitude controller without angular velocity measurement for spacecraft described by quaternion is designed. The passive controller has no information related to system parameters. So it has robustness to model error and uncertainty of model parameters. The stability of spacecraft attitude control...

The basis of haptic teleoperation focuses on augmenting a user’s ability to perform a task in a remote environment. Using an energetically passive haptic master assures that the energy can only be redirected or removed from the humanmanipulator pair, guaranteeing the user’s safety. However using a passive master complicates the display of haptic forces due to the device’s limitations. The maste...

The theory behind small amplitude movement of a single pendulum is stated, followed by the construction of a simple example of a coupled pendulum with two degrees of freedom including the unidirectional movement of the structure and the pendulum angle in relation to vertical. These models and the finite elements software SAP 2000 are also applied to a single and to a multiple degree of freedom ...